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Thank you. I have test

  rostopic pub /cmd_vel geometry_msgs/Twist -r 20 '[1,0,0]' '[0,0,0.5]'

And it actually output x=1 y=0 theta=0.5

I have two simple question:

1. The origin purpose is try to get the output from the navigation stack. How could I get the velocity from the navigation stack with cmd_vel?

2. Why the output from '[1,0,0]' '[0,0,0.5]' is [1,0,0.5] ?

Thank you. I have test

  rostopic pub /cmd_vel geometry_msgs/Twist -r 20 '[1,0,0]' '[0,0,0.5]'

And it actually output x=1 y=0 theta=0.5

I have two three simple question:

1. The origin purpose is try to get the output from the navigation stack. How could I get the velocity from the navigation stack with cmd_vel?

2. Why the output from '[1,0,0]' '[0,0,0.5]' is [1,0,0.5] ?

3. What is this message means?

   Waiting on transform from /base_footprint to /odom to become available before running costmap, tf error: Frame id /base_footprint does not exist!

Thank you. I have testyou for you suggestion.

  rostopic pub /cmd_vel geometry_msgs/Twist -r 20 '[1,0,0]' '[0,0,0.5]'